WO2019120150A1

WO2019120150A1 - Modular robot control method and system

Info

Publication number: WO2019120150A1
Application number: PCT/CN2018/121436
Authority: WO
Inventors: 杨健勃
Original assignee: 北京可以科技有限公司
Priority date: 2017-12-19
Filing date: 2018-12-17
Publication date: 2019-06-27
Also published as: EP3730254B1; JP2021506604A; EP3730254A1; US11325249B2; EP3730254A4; JP7053067B2; CN108356806B; CN108356806A; US20210347043A1

Abstract

Provided are a modular robot control method and a system. The method comprises the following steps: T1： providing a plurality of modular units; T2： assembling a plurality of modular units into an initial physical structure; T3： obtaining initial virtual configuration information of the initial physical structure; T4： generating an initial virtual configuration on the basis of the initial virtual configuration information; T5： setting an action frame to generate preset action control information; and T6： transmitting the preset action control information to the modular robot, so that the modular robot performs motions according to the preset action control information. A user can conduct configuration assembling at will and design control information for controlling the assembled configuration to execute actions, and using convenience of the modular robot is greatly improved; and the design space of the modular robot is enlarged, and the modular robot is applicable to more scenes.

Description

Modular robot control method and system

[Technical Field]

The invention relates to the field of modular robots, and in particular to a modular robot control method and system.

【Background technique】

Robots have been widely used in life and industry, such as teaching to develop students' thinking skills, such as welding, painting, assembly, and handling in automated production. Although robots have great flexibility and flexibility as an execution system, they can perform different tasks. However, existing robots are often used for specific purposes and occasions. There is only one main function, and the degrees of freedom and configuration are fixed. Change, lack of functional scalability and reconfigurability of configuration. In addition, the cost of developing a specific robot for each field and each application is very large, which seriously restricts the promotion and application of the robot. Therefore, reconfigurable robots came into being.

Reconfigurable robots are usually obtained by combining a main module and a plurality of basic modules. The basic structures of the multiple basic modules are the same, and the connection faces are provided to realize the combination, but the user cannot verify in the process of combining the module robots. Whether the combined structure is correct or not, brings a lot of repetitive assembly work to the user, resulting in a poor experience.

[Summary of the Invention]

In view of the above problems, the present invention provides a modular robot control method and system.

The solution to solve the technical problem of the present invention is to provide a modular robot control method, which comprises the following steps:

T1: providing a plurality of modular units;

T2: assembling a plurality of modular units into an initial physical structure;

T3: obtaining initial virtual configuration information of the initial entity structure;

T4: generating an initial virtual configuration according to the initial virtual configuration information;

T5: setting an action frame to generate preset action control information; and

T6: The preset motion control information is transmitted to the modular robot, and the modular robot performs the motion according to the preset motion control information.

Preferably, the module unit comprises two sub-modules that are relatively rotatable, and the step T5 specifically comprises the following steps:

T51: controlling relative rotation between two sub-modules of one or more modular units to generate one or more motion frames;

T52: storing the one or more motion frames; and

T53: Generate preset motion control information according to the one or more motion frames.

Preferably, in step T51 is controlling relative rotation between two sub-modules of one or more modular units in the initial physical structure or controlling the relative between two sub-modules of one or more modular units in the initial virtual configuration Rotate.

Preferably, the step T53 is specifically:

Adding, deleting, or editing one or more motion frames to generate preset motion control information.

Preferably, the editing action frame includes one or more of an edit rotation time, a rotation speed, a rotation angle, and a rotation direction.

Preferably, the initial virtual configuration information includes one or more of module category information, module quantity information, location information, and initial angle information between the two sub-modules of the plurality of module units.

Preferably, a plurality of modular units may comprise a plurality of identical or different modular units, the modular units comprising two relatively movable submodules, each submodule comprising at least one pair of joints, each having a unique interface Identification information, where the location information of the multiple module units that obtain the initial entity structure is specifically:

The module unit identifies the interface identification information of the docking part of the adjacent module unit connected thereto, and obtains the interface identification information according to the interface identification information of the docking part of the adjacent module unit and the interface identification information of the docking part of the connection with the adjacent module unit. location information.

Advantageously, said plurality of modular units comprise at least one modular unit communicable with a remote terminal, said plurality of modular units comprising a cellular body and at least one cell when the plurality of modular units comprises a plurality of different modular units The module unit that defines the communication with the remote terminal is a cell body, and the cell monomer directly connected to the cell body is a first-level cell unit, and the location information of the plurality of module units that acquire the initial physical structure includes the following steps:

T31: the cell body transmits a signal through the docking portion to the primary cell monomer connected thereto;

T32: The first-level cell monomer performs surface recognition after receiving the signal to obtain interface identification information of the docking part of the cell body sending signal, and the first-level cell monomer transmits the interface identification information of the interface of the cell body to the signal and the self-receiving signal thereof. The interface identification information of the docking portion is transmitted to the cell body to obtain the position information of the primary cell monomer.

Preferably, the cell monomer defined to be linked to the primary cell monomer is a secondary cell monomer, and the cell monomer linked to the M-class cellular monomer is a (M+1)-order cell monomer, and M is greater than or equal to 1. An integer, the location information of the multiple module units that obtain the initial entity structure further includes the following steps:

T33: M-class cell monomer signals to (M+1)-level cell monomer;

T34: (M+1)-level cell monomer performs surface recognition after receiving the signal to obtain interface identification information of the interface of the M-level cell monomer transmitting signal, and (M+1)-level cell monomer will be M-level cell monomer The interface identification information of the interface of the transmitted signal and the interface identification information of the interface of the self-received signal are transmitted to the cell body.

Preferably, when the cell body or the cell monomer simultaneously transmits different electrical signals to the plurality of lower cell monomers, the interface of the plurality of lower cell monomers to transmit the interface of the different electrical signals according to the cell body or the superior cell monomer The identification information periodically returns its position information to the cell body; or the cell body or the cell monomer sequentially transmits the same or different electrical signals to the plurality of lower-level cell monomers, and the plurality of lower-level cell monomers are based on the received electrical signals. The timing sequentially returns its position information to the cell body.

Preferably, the cell monomer monitors the relative angle information between the two sub-modules in real time during the execution of the action, and determines whether the action is completed according to the detection result.

The present invention also provides a modular robot control system for controlling an initial physical structure spliced by a plurality of modular units, the plurality of modular units including a modular unit communicable with a remote terminal, the modular robot Control system includes

a storage module, configured to store initial virtual configuration information of the initial physical structure;

a configuration generation module, configured to generate an initial virtual configuration of the modular robot according to the initial virtual configuration information;

An action generation module, configured to generate preset action control information; and

The transmission module is configured to transmit the preset motion control information to the modular robot to perform according to the preset motion control information.

The invention also provides a modular robot control system, the modular robot control system comprising:

a modular robot assembled from a plurality of modular units having an initial physical structure;

a memory, and one or more programs, wherein one or more of said programs are stored in said memory, said memory being in communication with a module unit, said program being operative to:

Obtaining and storing initial virtual configuration information of the initial entity structure;

Generating an initial virtual configuration of the modular robot based on the initial virtual configuration information;

Setting an action frame to generate preset action control information; and

Transfer preset motion control information to the modular robot.

Preferably, the plurality of modular units comprise a cell body and at least one cell monomer, each docking portion having unique interface identification information, and the cell monomer defining the direct connection with the cell body is a primary cell monomer, Obtaining the initial virtual configuration information of the initial entity structure specifically includes the following steps:

The cell body transmits a signal through the docking portion to the primary cell monomer to which it is attached;

After receiving the signal, the primary cell monomer performs surface recognition to obtain interface identification information of the docking portion of the signal transmitted by the cell body, and the primary cell monomer interfaces the interface identification information of the docking portion of the signal transmitted by the cell body with its own receiving signal. The interface identification information of the part is transmitted to the cell body to obtain the position information of the primary cell monomer.

Compared with the prior art, the modular robot control method of the present invention comprises the following steps: T1: providing a plurality of modular units; T2: assembling a plurality of modular units into an initial physical structure; and T3: acquiring an initial virtual initial structure Configuration information; T4: generating an initial virtual configuration according to initial virtual configuration information; T5: setting an action frame to generate preset motion control information; and T6: transmitting preset motion control information to a modular robot, modular robot Perform motion according to preset motion control information. The control method of the modular robot of the present invention can enable the user to assemble the configuration arbitrarily and design control information for controlling the execution behavior of the assembly configuration, greatly improving the usability of the modular robot, and increasing the modular robot. Design space makes it suitable for more scenes.

In addition, one or more of the rotation time, the rotation speed, the rotation angle and the rotation direction of the motion frame can be edited, and various parameters can be adjusted for the control action information, thereby enriching the design space of the modular robot.

In addition, in the method, the position of each module unit can be accurately obtained by surface recognition, which is simple and fast, and has low hardware requirements.

The control system of the modular robot of the present invention also has the above advantages.

[Description of the Drawings]

1 is a flow chart showing a method of controlling a modular robot according to a first embodiment of the present invention.

2 is a schematic diagram showing a sub-flow of step T3 in the modular robot control method according to the first embodiment of the present invention.

3 is a schematic diagram showing a sub-flow of step T5 in the modular robot control method according to the first embodiment of the present invention.

Fig. 4 is a view showing the exploded structure of the angle measuring device of the first embodiment of the present invention.

Fig. 5 is a perspective view showing the structure of a rotating shaft according to a first embodiment of the present invention.

Fig. 6 is a perspective view showing the structure of a sensor according to a first embodiment of the present invention.

Fig. 7 is a schematic view showing the measurement principle of the sensor of the first embodiment of the present invention.

Figure 8 is a block diagram showing the structure of a modular robot control system in accordance with a second embodiment of the present invention.

Figure 9 is a block diagram showing the structure of a modular robot control system in accordance with a third embodiment of the present invention.

【Detailed ways】

The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It is understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

First embodiment

Referring to FIG. 1, a first embodiment of the present invention further provides a modular robot control method, the modular robot comprising at least two modular units, each modular unit comprising two sub-modules that are relatively movable, such as two The sub-modules are relatively rotatable, preferably each modular unit is composed of two upper and lower hemispheres capable of relative rotational movement, each sub-module comprising at least one pair of joints, each of which is provided with an interface, each interface having a unique interface The identification information is connected between the module unit and the module unit through the docking portion. It can be understood that when each sub-module includes at least two docking portions, the two module units are connected by a respective docking portion, and a virtual connecting surface is formed at a connecting position of the two module units, and the two module units are based on the virtual connecting surface. Rotating, a plane in which at least one other docking portion on at least one of the two modular units is located intersects the virtual connecting surface.

To facilitate the subsequent description and understanding, the following definitions are made herein, and the configuration information includes, but is not limited to, one or more of module type information, location information, module quantity information, and initial angle information between two sub-modules, The configuration information is information for defining a connection relationship between adjacent module units, wherein the location information is used to record interface identification information of two docking portions to which adjacent module units are connected, and interface identification information of each docking portion. That is, it represents the position of the docking part on the module unit where it is located, so the position information of each module unit represents its absolute position in a three-dimensional spatial configuration or a planar configuration; the module unit of the same category is provided with The same module type identifier, for example, the cell bodies all have the same module type identifier, the cell monomers have the same module type identifier, and the module type identifier of the cell body is inconsistent with the module type identifier of the cell monomer, when the cell list When there are multiple categories in a body, the cell monomers of each category have the same module type identifier, different The module type identifiers of other cell monomers are different, so that the module type information of the module unit can be known by identifying the module type identifier; the initial angle information between the two submodules refers to the relative relationship between the upper and lower submodules of the module unit. Angle value; the number of module units refers to the number of module units. The process of identifying the interface identification information of the two docking portions connected between the two adjacent module units is a surface recognition process, and the position information of the module unit can be obtained by performing face recognition. It will be understood that the definitions herein apply equally to other embodiments of the present specification.

The modular robot control method includes the following steps:

T1: providing a plurality of modular units;

T2: assembling a plurality of modular units into an initial physical structure;

T4: generating an initial virtual configuration of the modular robot according to the initial virtual configuration information;

T5: setting an action frame to generate preset action control information; and

It can be understood that, in the step S1, the plurality of module units provided may include at least one module unit that communicates with the remote terminal, thereby implementing communication between the modular robot and the remote terminal. In addition, when the modular robot does not need to communicate with the remote terminal and can perform the operations of the subsequent steps itself, the plurality of module units provided include at least one module unit that can perform the subsequent steps.

It can be understood that, in the step T2, a plurality of modular units are assembled into a modular robot, and the specific structure of the modular robot is an initial physical structure.

It can be understood that, in the step T3, the initial virtual configuration information may be uploaded to the remote terminal to obtain the initial virtual configuration information of the initial physical structure, and the at least one module unit uploads the initial physical structure of the assembled modular robot to the remote terminal. The remote terminal obtains the initial virtual configuration information of the initial entity structure; or at least one of the plurality of module units acquires the initial virtual configuration information of the initial entity structure and stores it instead of transmitting to the remote terminal. The initial virtual configuration information includes one or more of location information, module type information, module quantity information, initial angle information between the upper and lower sub-modules, and other information defining a connection relationship between adjacent module units. The module unit transmits its own module type information to the cell body by means of wireless transmission; after all the module units transmit their location information to the remote terminal, the remote terminal obtains the module quantity information of the initial entity structure; The initial angles of the upper and lower submodules are detected and their initial angle information is wirelessly transmitted to the remote terminal.

Referring to FIG. 2, a plurality of module units of an initial physical structure may include a plurality of identical or different modular units, and the plurality of modular units include at least one modular unit that can communicate with a remote terminal, and multiple modular units of the initial physical structure When a plurality of different modular units are included, for example, a plurality of modular units include a cell body and at least one cell monomer, and the cell body is used to communicate with the remote terminal, and the cell monomer directly defining the cell body is a primary cell monomer. The cell monomer linked to the primary cell monomer is a secondary cell monomer, and the cell monomer linked to the M-class cellular monomer is a (M+1)-order cell monomer, and M is an integer greater than or equal to 1. The obtaining the initial virtual configuration information of the initial entity structure specifically includes the following steps:

T32: The first-level cell monomer performs surface recognition after receiving the signal to obtain interface identification information of the docking part of the cell body sending signal, and the first-level cell monomer transmits the interface identification information of the interface of the cell body to the signal and the self-receiving signal thereof. The interface identification information of the docking portion is transmitted to the cell body to obtain the position information of the primary cell monomer;

T33: M-level cellular monomer signals to (M+1)-level cellular monomer;

It is understood that the signal transmitted by the cell body to the primary cell monomer and the signal transmitted by the M-class cell monomer to the (M+1)-order cell monomer are preferably electrical signals or wireless signals. When only the cell body and the primary cell monomer are present in the initial solid structure, the step T33 and the step T34 may be omitted.

When a plurality of modular units of the initial physical structure include a plurality of identical modular units, one of the modular units is defined as a main modular unit, that is, the above-mentioned cellular main body, and the modular unit directly connected to the main modular unit is a primary cell unit. The modular unit linked to the primary cell monomer is a secondary cellular monomer, and the modular unit linked to the M-class cellular monomer is a (M+1)-order cellular monomer, and M is an integer greater than or equal to 1, and the above steps are also performed. T31 ~ T34. As a variant, the multi-level cell monomers can directly transmit their respective location information directly to the remote terminal without being transmitted to the main module unit.

In summary, the process of obtaining the location information of the multiple module units of the initial physical structure is: the module unit identifies the interface identification information of the interface of the adjacent module unit connected thereto, and according to the interface identification information of the interface of the adjacent module unit and The interface identification information of the docking part that itself is connected to the adjacent module unit obtains its location information.

In addition, perform the following steps before or at the same time as step T31.

Step T30: The cell body sends a broadcast signal to notify each cell monomer to prepare for face recognition. It can be understood that wireless communication can be performed between the module unit and the module unit, and the manner of wireless communication can be wifi communication, Bluetooth communication or zigbee communication, preferably zigbee communication. The cell body first broadcasts a signal to each cell monomer to enter the face recognition preparation state, and waits until each cell monomer receives an electrical signal to perform a face recognition action.

In the step T31, each docking portion on the cell body sends a different electrical signal to the plurality of primary cell monomers, and in step T32, the plurality of primary cell monomers are obtained according to the difference of the received electrical signals. The interface identification information of the docking portion of the cell body connected thereto, and each of the first-level cell monomers replies together with the interface identifier information of the docking portion of the cell body transmitting the electrical signal and the interface identifier information of the docking portion of the self-receiving electrical signal. The cell body and the cell body are calculated by algorithm to obtain the position information of the first-level cell monomer. After the plurality of first-level cell monomers perform the same action, the cell body obtains the position information of the plurality of primary cell monomers. Similarly, in steps T33 and T34, each docking portion on the M-class cell monomer sends a different electrical signal to a plurality of (M+1)-level cell monomers, and a plurality of (M+1)-level cell monomers are The received electrical signal is different to obtain the interface identification information of the docking portion of the M-class cell monomer connected thereto, and each (M+1)-level cell monomer transmits the M-level cell monomer to the docking portion of the electrical signal. The interface identification information and the interface identification information of the interface of the interface for receiving the electrical signal are returned to the cell body, and the cell body calculates the position information of the (M+1)-level cell monomer by an algorithm, and the plurality of (M+1)-level cells After the monomer performs the same action, the cell body obtains positional information of a plurality of (M+1)-order cell monomers. After a series of face recognition, the cell body obtains the positional information of all the cell monomers to obtain the configuration information of the initial entity structure.

It can be understood that when the cell body or the cell monomer simultaneously transmits different electrical signals to the plurality of lower cell monomers, the interface of the plurality of lower cell monomers to transmit the interface of the different electrical signals according to the cell body or the superior cell monomer. The identification information periodically returns its position information to the cell body; or the cell body or the cell monomer sequentially transmits the same or different electrical signals to the plurality of lower-level cell monomers, and the plurality of lower-level cell monomers are based on the received electrical signals. The timing sequentially returns its position information to the cell body. For example, the cell body is provided with two docking portions, and the interface identification information is defined as 1 and 2, respectively, and the cell body simultaneously sends two different electrical signals to the two first-level cell monomers connected thereto, and the setting and docking portion The first-stage cell monomer connected to the first phase returns its position information, waits for 10 s (the specific time can be adjusted by itself), and the primary cell monomer connected to the docking part 2 returns its position information.

In addition, further included between the steps T32a and T33a

Step T32a: The cell body stops transmitting an electrical signal, and notifies the primary cell monomer directly connected to the cell body to transmit an electrical signal to the secondary cell monomer linked to the primary cell monomer. It is to be understood that, in the step S22a, the cell body is preferably notified of the primary cell monomer by means of a broadcast signal. It can be understood that, before the M-level cell monomer transmits the electrical signal, the cell body sequentially controls the M-level cell monomer to transmit the electrical signal to the plurality according to the interface identification information of the plurality of docking portions of the M-level cell monomer. M+1) cell monomer, the electrical signals sent to the plurality of (M+1) cell monomers may be the same or different, preferably sent by multiple docking stations of the M cell monomer Different electrical signals.

Further, in the steps T32 and T34, the cell body individually numbers each cell monomer after receiving the position information transmitted from the cell monomer, and stores the position information of each cell monomer in association with the number. When the cell body communicates with the remote terminal, the cell body transmits the location information of each cell cell and its number to the remote terminal. After the remote terminal sends the action control information to the cell body, the cell body decomposes the control information according to different numbers and transmits the decomposed control information to each cell monomer according to the number.

It can be understood that, in the step T4, the remote terminal or the module unit storing the initial virtual configuration information in the step T3 generates the initial virtual configuration of the modular robot according to the initial virtual configuration information. The remote terminal generates an initial virtual configuration of the modular robot by means of three-dimensional simulation or three-dimensional modeling according to the obtained initial virtual configuration information.

Referring to FIG. 3, the step T5 specifically includes the following steps:

T52: storing the one or more motion frames; and

It can be understood that in the steps T51 and T52, controlling the relative rotation between the two sub-modules of one or more modular units may be performed in the initial physical structure or in the initial virtual configuration. For example, the two sub-modules of a cell monomer can be controlled to rotate relative to each other in a modular robotic configuration, and the cell monomer can detect the relative rotation angle values of the two sub-modules and transmit to the cell body, and the cell body will The angle value is transmitted to the remote terminal together with the number of the cell monomer and/or the position information of the cell monomer, and the remote terminal determines the cell monomer based on the number of the cell monomer and/or the position information of the cell monomer. Identity, and retrieve the initial angle information of the two sub-modules of the cell unit, and calculate the relative angle information between the two sub-modules after the rotation, and will shift from the initial angular position to the current angular position. The process is saved as an action frame; the two sub-modules of another cell monomer are rotated, or the two sub-modules of the same cell cell are continuously rotated, and the same terminal is saved as another action frame after the same information transmission and calculation processing. Further, a plurality of motion frames are formed. For example, the two sub-modules of one or more modular units can be selected to be rotated at a certain angle and saved as one motion frame in the initial virtual configuration of the modular robot generated by the remote terminal, and then another cell monomer or The same cell unit rotates at a certain angle to form another motion frame, thereby obtaining a plurality of motion frames.

It can be understood that the step T53 is specifically:

Adding, deleting, or editing one or more motion frames to generate preset motion control information. It will be appreciated that editing in one or more of the rotational time, rotational speed, rotational angle and rotational direction of each motion frame may be made in the remote terminal. For example, one or more motion frames can be selected on the operation interface of the remote terminal, and one or more of the rotation angle, the rotation direction, the rotation time, and the rotation speed of the motion frame can be selected after selecting one of the motion frames. The parameters are edited, or the ordering of multiple motion frames can be edited, and finally the preset motion control information is generated.

In the step T6, after the remote terminal transmits the preset motion control information to the cell body, the cell body decomposes the preset motion control information according to the number of different cell monomers, and respectively decomposes according to different numbers. Part of the preset motion control information is transmitted to the corresponding cell monomer, and the cell unit performs the action after receiving some preset motion control information. It can be understood that the cell monomer monitors the relative angle information between the two sub-modules in real time during the execution of the action, and determines whether the action is completed according to the detection result. Preferably, when the cell monomer determining action is completed, the cell monomer transmits a signal to the cell body, and the cell body transmits the signal to the remote terminal to inform the cell monomer that the action has been completed; or the cell monomer directly transmits the signal to the remote device. terminal.

Referring to FIG. 1 again, in addition, the modular robot control method further includes the following steps:

T7: Store the initial virtual configuration, initial virtual configuration information, and preset motion control information. After generating the preset motion control information, the initial virtual configuration, the initial virtual configuration information, and the preset motion control information are stored in association with each other in the database, and then assembled according to the initial virtual configuration stored in the database, and the assembled The configuration is compared with the initial virtual configuration stored in the database and corrected. When the configuration information of the assembled configuration is consistent with the initial virtual configuration information stored in the database, the corresponding association can be directly retrieved from the database. Presetting the action control information to perform the action; or when the database has stored enough initial virtual configurations, the configuration information of the randomly assembled configuration is matched with the initial virtual configuration information in the database. When the configuration information of the randomly assembled configuration is the same as the initial virtual configuration information, the corresponding action control information may be directly retrieved from the database to perform the action.

Referring to FIG. 4 and FIG. 5 together, each cell unit is provided with an angle measuring device 101, which includes a rotating shaft 104 and a sensor 103. The rotating shaft 104 includes an opposite first end 1041 and a second end 1043. The first end 1041 of the rotating shaft 104 is connected to the sensor 103, and the second end 1043 of the rotating shaft 104 is connected to one of the submodules, and the sensor 103 is connected to another submodule, so that the rotation between the two submodules can be It is detected by the sensor 103. The cross-sectional shape of the first end 1041 of the rotating shaft 104 is preferably substantially "D-shaped", and the rotating shaft 104 and the sensor 103 are inserted into the sensor 103 when connected, which can play a foolproof effect, and when the rotating shaft 104 is removed, again Mounting the rotating shaft 104 also requires installation from the same angle. The second end 1043 of the rotating shaft 104 is preferably of a pointer type. When the rotating shaft 104 is connected to one of the sub-modules of the module unit, the anti-staying function is also played. When the rotating shaft 104 is removed, the rotating shaft 104 is installed again. Install at the same angle. Therefore, the sub-module connected to the rotating shaft 104 and the sensor 103 are moderately maintained at the same angle, and the cell unit is disassembled and then reassembled without re-adjustment. It can be understood that the shapes of the first end 1041 and the second end 1043 of the rotating shaft 104 are not completely limited to the shape in the embodiment, and may be made into other foolproof structures to achieve a foolproof effect. The foolproof structure is a modification that is easily conceived by those skilled in the art, and the present embodiment will not be further illustrated.

Referring to FIG. 6 and FIG. 7 together, the sensor 103 includes an angle measuring circuit board 1031, a first potentiometer 1032 and a second potentiometer 1033. The first potentiometer 1032 and the second potentiometer 1033 are electrically connected in parallel, two The dead zone portions of the potentiometer are not covered by each other, the angle measuring circuit board 1031 is disposed between the first potentiometer 1032 and the second potentiometer 1033, and the first potentiometer 1032 and the second potentiometer 1033 are both connected to the angle measuring circuit board 1031. The first potentiometer 1032 and the second potentiometer 1033 are also electrically connected to the angle measuring circuit board 1031. The first potentiometer 1032 includes a first resistor 1034 and a first slider 1035, and the second potentiometer 1033 includes a second resistor 1036 and a second slider 1037.

The end of the first slider 1035 slides over the first resistor 1034, the end of the second slider 1037 slides over the second resistor 1036, and the first slider 1035 and the second slider 1037 are fixedly connected by an insulating material. . The first slider 1035 and the second slider 1037 share the same rotating shaft, that is, the first slider 1035 and the second slider 1037 are both connected to the first end 1041 of the rotating shaft 104 and rotate around the rotating shaft 104. The dead portion of the first resistor 1034 is partially covered by the non-dead portion of the second resistor 1036, and the dead portion of the second resistor 1036 is covered by the non-dead portion of the first resistor 1034.

The angle measuring circuit board 1031 integrates input and output ports of the first potentiometer 1032 and the second potentiometer 1033. The input and output ports include a port to which the resistor is connected to the voltage Vcc, a ground port, and an output port of the slider. It can be understood that the angle measuring circuit board 1031 can also be omitted. The first potentiometer 1032 and the second potentiometer 1033 are directly electrically connected to the main circuit board (not shown) of the cell, and the angle measurement is integrated on the main circuit board. A functional module of the circuit board 1031.

For more accurate measurement, the dead zone portion of the potentiometer defined in the embodiment of the present invention includes two sections: 1. an area that cannot be directly measured by a single potentiometer, that is, an area between two end points of the resistor, such as in FIG. Inferior arc AOD; 2. The area where the measurement accuracy is not high near the end portion of the single potentiometer, such as the inferior arc AOB and the inferior arc COD in Fig. 7, where the two critical endpoints B and C of the region with low measurement accuracy are correspondingly sliding The minimum voltage and maximum voltage output by the device. Then, the dead zone portion of the first potentiometer 1032 in FIG. 7 is defined as a poor arc BOC region.

The principle of the 360 degree angle measurement of the dual potentiometer-based dead zone angle measuring device 101 of the present invention is achieved as follows:

The center of the common shaft of the two sliders is marked as O, the end of the first resistor 1034 connected to the voltage Vcc is labeled D, the end of the first resistor 1034 is grounded as A, and the end of the second resistor 1036 is labeled G. It is assumed that the minimum voltage and the maximum voltage output by the first potentiometer 1032 are Vmin and Vmax, respectively, wherein Vmin~Vmax is an output voltage range in which the first potentiometer 1032 measures the measurement accuracy of the rotation angle of the first slider 1035. It is assumed that when the DC voltage output of the first slider 1035 is Vmin, the point of the first slider 1035 on the first resistor 1034 is B, while the point of the second slider 1037 on the second resistor 1036 is F. It is assumed that when the DC voltage output of the first slider 1035 is Vmax, the point of the first slider 1035 on the first resistor 1034 is C, while the point of the second slider 1037 on the second resistor 1036 is E.

Let ∠AOB=φ0, the DC voltage output of the first slider 1035 corresponding to point C is Vmax, then:

Where k1 is the angular dividing coefficient of the first resistor 103411.

And the ray OBF is defined as the zero initial line of the angle measurement, that is, when the first slider 1035 and the second slider 1037 coincide with the OBF, the angle φ measured at this time is defined as 0. When the voltage value V1 measured by the first slider 1035 satisfies the following formula (3):

V _min ≤V ₁ ≤V _max (3)

That is, when the first slider 1035 slides on the superior arc BOC, at this time, using the resistance division principle of the first resistor 1034, the measured angle φ is expressed by the following formula (4):

When the voltage value V1 measured by the first slider 1035 does not satisfy the formula (3), that is, when the first slider 1035 does not slide on the superior arc BOC, the second slider 1037 is just inferior to the second resistor 1036. Slide on the EOF. The DC output voltage of the second slider 1037 is measured as V2. By using the resistance division principle on the second resistor 1036, the angle φ measured at this time can be obtained by the following formula (5):

Where k2 is the angular dividing coefficient of the second resistor 103621.

According to the voltage VEOG outputted by the second slider 1037 at point E, the following formula can be obtained:

According to the minimum voltage and the maximum voltage output by the first potentiometer 1032, the dead zone portion of the first potentiometer 1032 is the inferior arc BOC region, and the non-dead portion of the second potentiometer 1033 is disposed to cover the inferior arc BOC region.

Based on the dead zone angle measuring device 101, the dead zone angle measuring method provided by the present invention is specifically:

(1) Measurement obtained ∠AOB and ∠EOG;

(2) obtaining the output voltage V1 of the first slider 1035, determining whether V1 satisfies the formula (3); if satisfied, determining the angle φ according to the equation (4); if not, acquiring the output voltage V2 of the second slider 1037, The angle φ is then determined according to equation (5).

Second embodiment

Referring to FIG. 8, a second embodiment of the present invention further provides a modular robot control system 30 for controlling an initial physical structure spliced by a plurality of modular units, the modular robot control system 30 comprising:

a storage module 31, configured to store initial virtual configuration information of the initial physical structure;

a configuration generating module 33, configured to generate an initial virtual configuration of the modular robot according to the initial virtual configuration information;

An action generating module 35, configured to generate preset action control information; and

The transmission module 37 is configured to transmit the preset motion control information to the modular robot to perform according to the preset motion control information.

The storage module 31 is connected with the modular robot to store initial virtual configuration information of the initial physical structure, and the configuration generation module 33 is connected with the storage module 31 to obtain initial virtual configuration information from the storage module 31 to generate an initial of the modular robot. The virtual configuration, the action generation module 35 is connected to the configuration generation module 33 to obtain an initial virtual configuration, and generates preset action control information according to the initial virtual configuration, and the transmission module 37 and the action generation module 35 and the modular robot are connected and transmitted. The module 37 acquires the preset motion control information from the motion generating module 35 and transmits it to the modular robot, and the modular robot performs the action according to the preset motion control information.

Third embodiment

Referring to FIG. 9, a third embodiment of the present invention further provides a modular robot control system, the modular robot control system comprising:

a modular robot 41 assembled from a plurality of modular units having an initial physical structure;

a memory 43, and one or more programs, wherein one or more of the programs are stored in the memory, the memory being in communication with a module unit, the program being configured to execute the following steps:

Setting an action frame to generate preset action control information; and

Transfer preset motion control information to the modular robot.

In addition, the plurality of modular units include a cell body and at least one cell monomer, each docking portion having unique interface identification information, and defining a cell monomer directly connected to the cell body as a primary cell monomer, the obtaining The initial virtual configuration information of the initial entity structure specifically includes the following steps:

The above is only the preferred embodiment of the present invention, and is not intended to limit the present invention, and any modifications, equivalents, and improvements made within the principles of the present invention should be included in the scope of the present invention.

Claims

A modular robot control method, characterized in that the modular robot control method comprises the following steps:

T1: providing a plurality of modular units;

T2: assembling a plurality of modular units into an initial physical structure;

T3: obtaining initial virtual configuration information of the initial entity structure;

T4: generating an initial virtual configuration according to the initial virtual configuration information;

T5: setting an action frame to generate preset action control information; and

T6: The preset motion control information is transmitted to the modular robot, and the modular robot performs the motion according to the preset motion control information.
The modular robot control method according to claim 1, wherein the module unit comprises two sub-modules that are relatively rotatable, and the step T5 specifically comprises the following steps:

T51: controlling relative rotation between two sub-modules of one or more modular units to generate one or more motion frames;

T52: storing the one or more motion frames; and

T53: Generate preset motion control information according to the one or more motion frames.
The modular robot control method according to claim 2, wherein in step T51, the relative rotation between the two sub-modules of one or more modular units in the initial physical structure is controlled or the initial virtual configuration is controlled. Relative rotation between two sub-modules of one or more modular units.
The modular robot control method according to claim 1, wherein the step T53 is specifically:

Adding, deleting, or editing one or more motion frames to generate preset motion control information.
The modular robot control method according to claim 4, wherein the editing action frame comprises one or more of editing a rotation time, a rotation speed, a rotation angle, and a rotation direction.
The modular robot control method according to claim 1, wherein the initial virtual configuration information comprises module type information, module quantity information, position information, and initial angle information between the two sub-modules of the plurality of module units. One or more of them.
The modular robot control method according to claim 6, wherein a plurality of modular units may include a plurality of identical or different modular units, and the modular unit includes two relatively movable submodules, each of the submodules. The device includes at least one pair of interfaces, each of which has unique interface identification information, where the location information of the plurality of module units that obtain the initial physical structure is specifically:

The module unit identifies the interface identification information of the docking part of the adjacent module unit connected thereto, and obtains the interface identification information according to the interface identification information of the docking part of the adjacent module unit and the interface identification information of the docking part of the connection with the adjacent module unit. location information.
The modular robot control method according to claim 7, wherein said plurality of modular units comprise at least one modular unit communicable with a remote terminal, and when the plurality of modular units includes a plurality of different modular units, The plurality of modular units comprise a cell body and at least one cell monomer, the module unit defining communication with the remote terminal is a cell body, and the cell monomer directly connected to the cell body is a primary cell monomer, the initial acquisition The location information of the multiple module units of the physical structure includes the following steps:

T31: the cell body transmits a signal through the docking portion to the primary cell monomer connected thereto;

T32: The first-level cell monomer performs surface recognition after receiving the signal to obtain interface identification information of the docking part of the cell body sending signal, and the first-level cell monomer transmits the interface identification information of the interface of the cell body to the signal and the self-receiving signal thereof. The interface identification information of the docking portion is transmitted to the cell body to obtain the position information of the primary cell monomer.
The modular robot control method according to claim 8, wherein the cell monomer that is linked to the primary cell monomer is a secondary cell monomer, and the cell monomer that is linked to the M-class cellular monomer is (M). +1) a cell unit, M is an integer greater than or equal to 1, and the location information of the plurality of module units that acquire the initial physical structure further includes the following steps:

T33: M-class cell monomer signals to (M+1)-level cell monomer;

T34: (M+1)-level cell monomer performs surface recognition after receiving the signal to obtain interface identification information of the interface of the M-level cell monomer transmitting signal, and (M+1)-level cell monomer will be M-level cell monomer The interface identification information of the interface of the transmitted signal and the interface identification information of the interface of the self-received signal are transmitted to the cell body.
The modular robot control method according to claim 9, wherein when the cell body or the cell monomer simultaneously transmits different electrical signals to the plurality of lower cell monomers, the plurality of lower cell monomers are based on the cell body. Or the interface identification information of the docking part of the superior cell monomer transmitting different electrical signals periodically returns its position information to the cell body; or the cell body or the cell monomer sequentially transmits the same or different electrical signals to the plurality of lower cell monomers. The plurality of lower-level cell monomers sequentially return their position information to the cell body according to the timing of receiving the electrical signal.
The modular robot control method according to claim 6, wherein the cell unit monitors the relative angle information between the two sub-modules in real time during the execution of the action, and determines whether the action is performed according to the detection result. .
A modular robot control system for controlling an initial physical structure spliced by a plurality of modular units, characterized in that the modular robotic control system comprises

a storage module, configured to store initial virtual configuration information of the initial physical structure;

a configuration generation module, configured to generate an initial virtual configuration of the modular robot according to the initial virtual configuration information;

An action generation module, configured to generate preset action control information; and

The transmission module is configured to transmit the preset motion control information to the modular robot to perform according to the preset motion control information.
A modular robot control system, characterized in that the modular robot control system comprises:

a modular robot assembled from a plurality of modular units having an initial physical structure;

a memory, and one or more programs, wherein one or more of said programs are stored in said memory, said memory being in communication with a module unit for executing the following steps:

Obtaining and storing initial virtual configuration information of the initial entity structure;

Generating an initial virtual configuration of the modular robot based on the initial virtual configuration information;

Setting an action frame to generate preset action control information; and

Transfer preset motion control information to the modular robot.
The modular robot control system according to claim 13, wherein said plurality of modular units comprise a cell body and at least one cell monomer, each docking portion having unique interface identification information, defined directly with the cell body The connected cellular monomer is a primary cellular monomer, and the obtaining initial virtual configuration information of the initial physical structure specifically includes the following steps:

The cell body transmits a signal through the docking portion to the primary cell monomer to which it is attached;

After receiving the signal, the primary cell monomer performs surface recognition to obtain interface identification information of the docking portion of the signal transmitted by the cell body, and the primary cell monomer interfaces the interface identification information of the docking portion of the signal transmitted by the cell body with its own receiving signal. The interface identification information of the part is transmitted to the cell body to obtain the position information of the primary cell monomer.